CN108552149B - Unmanned aerial vehicle smoke agent spraying system and method suitable for mountainous and hilly areas - Google Patents
Unmanned aerial vehicle smoke agent spraying system and method suitable for mountainous and hilly areas Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M9/00—Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass
- A01M9/0092—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an unmanned aerial vehicle smoke agent spraying system and a spraying method suitable for mountainous and hilly areas, wherein the unmanned aerial vehicle smoke agent spraying system comprises a remote sensing module, an environment monitoring module, a spraying module and a numerical control module, wherein the remote sensing module comprises an image acquisition device and an image transmission system; the environment monitoring module comprises an area monitoring meteorological station arranged on the ground and an unmanned aerial vehicle airflow disturbance monitoring device arranged on the unmanned aerial vehicle; the spraying module comprises a chemical box, a smoke generator, a smoke variable atomizing nozzle and a conveying mechanism for conveying smoke pesticides in the chemical box to the smoke generator and the smoke variable atomizing nozzle in sequence; the numerical control module is used for receiving information, making a 3D image, planning a flight path and controlling the amount of the smoke agent pesticide spraying. The unmanned aerial vehicle smoke agent spraying system can carry smoke agent pesticide through the unmanned aerial vehicle to accurately spray the smoke agent pesticide to fruit trees in the orchard on mountainous and hilly land.
Description
Technical Field
The invention relates to the technical field of precision agriculture aviation, in particular to an unmanned aerial vehicle smoke agent spraying system and a spraying method suitable for mountainous and hilly areas.
Background
The precision agricultural aviation technology is a technology for maximizing crop productivity by using an airplane carrying various technologies and data information tools. The method mainly comprises the research contents of accurate pesticide application, pollination, sowing, fertilization, aerial remote sensing, agricultural condition monitoring and analysis, positioning and navigation and the like. The development of the precision agriculture aviation industry is the trend of the world agriculture development and is an important component of the modern construction of the Chinese agriculture.
Because the unmanned aerial vehicle has advantages of vertical take-off and landing, strong adaptability, high operation efficiency, strong impact capability, flexible operation and the like, the aerial pesticide application operation by utilizing the unmanned aerial vehicle in agriculture, forestry and fruit industry is becoming more and more common nowadays. The mode of unmanned aerial vehicle application is mostly liquid pesticide atomizing spraying, but in the fruit tree planting area of some mountain areas hills, the spraying of unmanned aerial vehicle liquid pesticide seems not so convenient, and some of its weak points have also appeared. For example, mountain land topography environment is complicated, and the fruit tree is planted dispersedly and the leaf is comparatively numerous and diverse, and unmanned aerial vehicle liquid pesticide atomization effect is very poor, simultaneously because its drug loading is limited, mu dosage is limited, hardly guarantees that liquid pesticide can accurate each position of spraying every fruit tree. In addition, liquid pesticide is mixed water allotment, and mountain region water is also a difficult problem, and the water source is hardly transported in the mountain region, will consume a large amount of manpower and materials, also can influence the operating efficiency to influence the prevention and control progress of mountain hilly fruit tree plant diseases and insect pests.
The smoke pesticide is also called as smoke fumigant and smoke agent, is a pesticide formulation which is widely popularized and used in forests, orchards and vegetable production areas, does not need water, and generates smoke through combustion to generate an effect on damaged plants. The non-porous and fumigation characteristics of the smoke can effectively solve the problem of low effect of spraying treatment, greatly reduce the pesticide consumption, the pesticide suction amount of operators and the pesticide residue of crops, and is a more appropriate means for preventing and treating plant diseases and insect pests in hilly orchards. But also can produce the smoke harm if misuse through unmanned aerial vehicle smoke agent pesticide, for example traditional manual work will produce very big drift at the ground is spouted cigarette, very easily causes the pollution to the atmosphere, loses the drug effect simultaneously. If cooperate the use with unmanned aerial vehicle and fumigant pesticide, utilize unmanned aerial vehicle to the accurate spraying fumigant pesticide in orchard, will certainly alleviate the harmful problem of cigarette greatly. For example, the utility model patent with the publication number of cn206612069.u announces "a spraying system of spraying smoke suitable for unmanned aerial vehicle", meets with the spraying agent of spraying smoke atomizer through the high-temperature high-pressure flue gas that utilizes the fuel combustion chamber to produce among the unmanned aerial vehicle and mixes into gasification agent to spray on the fruit tree through the spray pipe. However, this method is easily affected by factors such as terrain and weather, so that the unmanned aerial vehicle cannot accurately spray the gasified pesticide on the plants.
Disclosure of Invention
The invention provides an unmanned aerial vehicle smoke agent spraying system suitable for mountainous and hilly areas in order to overcome the defects in the prior art.
The invention also aims to provide a spraying method applying the unmanned aerial vehicle smoke agent spraying system.
The technical scheme for solving the technical problems is as follows:
an unmanned aerial vehicle smoke agent spraying system suitable for mountainous and hilly areas comprises a remote sensing module, an environment monitoring module, a spraying module and a numerical control module, wherein,
the remote sensing module is arranged on the unmanned aerial vehicle and comprises an image acquisition device and an image transmission system, wherein the image acquisition device is used for acquiring remote sensing information of a pesticide application area, and the image transmission system is used for transmitting the remote sensing information back to the numerical control module in a wireless communication mode;
the environment monitoring module comprises an area monitoring meteorological station arranged on the ground and an unmanned aerial vehicle airflow disturbance monitoring device arranged on the unmanned aerial vehicle, wherein the area monitoring meteorological station is used for monitoring the whole meteorological conditions of a pesticide application area in real time, and the unmanned aerial vehicle airflow disturbance monitoring device is used for detecting the airflow disturbance condition around the unmanned aerial vehicle in the operation process; the whole meteorological condition information of the pesticide application area monitored by the area monitoring meteorological station and the airflow disturbance condition information around the unmanned aerial vehicle monitored by the unmanned aerial vehicle airflow disturbance monitoring device are transmitted back to the numerical control module in a wireless communication mode;
the spraying module is arranged on the unmanned aerial vehicle and comprises a chemical box for containing the smoke agent pesticide, a smoke generator, a smoke agent variable atomizing nozzle and a conveying mechanism for conveying the smoke agent pesticide in the chemical box to the smoke generator and the smoke agent variable atomizing nozzle in sequence;
the numerical control module is arranged on the ground and used for receiving remote sensing information, the whole meteorological condition information of a pesticide application area and the airflow disturbance condition information around the unmanned aerial vehicle, generating a smoke application operation prescription according to the information, planning a pesticide application flight operation path, determining the accurate spraying amount of the fruit tree smoke pesticide in each pesticide application area, performing simulation evaluation on the smoke drift condition and remotely controlling the spraying module to work.
Preferably, the remote sensing information acquired by the image acquisition device comprises image information of terrain, growth vigor of fruit trees, tree height, planting distance and row spacing; and the numerical control module generates a 3D accurate three-dimensional image for the pesticide application area and each pesticide application object according to the remote sensing information. By generating 3D accurate three-dimensional images of the pesticide application areas and the pesticide application objects, a more accurate smoke application operation prescription chart can be made, and accurate spraying of crops is realized.
Preferably, the image capture device is mounted on the drone by a quick mount bracket, the image capture device having independent wavelengths characterized by green and near infrared channels, the independent wavelengths including three active beams of independent wavelength 532 nm, 1064 nm and 1550 nm, each active beam having an effective sampling rate of 300 kHz, the independent wavelengths totaling a combined sampling rate of 900 kHz. This allows the image capture device to have high density mapping capability for terrain, vegetation mapping and environmental modeling applications.
Preferably, the numerical control module is further configured to receive, in real time, position coordinate data information, flight parameter data information, and airflow disturbance data information around the unmanned aerial vehicle, which are returned by the unmanned aerial vehicle during actual flight operation. Through the flight position and the gesture of comparing unmanned aerial vehicle in the orchard in real time, carry out comprehensive treatment to each data information, further send accurate control command to the flow controller of spraying module to control the accurate cigarette of giving a poor free of charge of spraying module.
Preferably, the conveying mechanism comprises a micro booster pump arranged in the chemical box, and the chemical box, the smoke generator and the smoke variable atomizing nozzle are connected through a spray pipe.
Preferably, a flow controller is arranged at the smoke agent variable atomizing nozzle and used for controlling the amount of the smoke agent pesticide to be sprayed.
Preferably, the quantity of the variable-rate atomizing nozzles of the smoke agent is a plurality of and is installed around the body of the unmanned aerial vehicle through a quick installing support, so that the smoke agent pesticide is sprayed in a plurality of directions.
Preferably, a variable swing smoke-blocking partition door is arranged inside the smoke agent variable atomizing nozzle and connected with the flow controller. Therefore, the variable swing smoke-blocking partition door can be controlled by the flow controller in real time to precisely swing to a specific angle to control the smoke application amount.
A spraying method using the unmanned aerial vehicle smoke agent spraying system comprises the following use steps:
a. before the smoke application operation, the remote sensing module is installed on an unmanned aerial vehicle, the unmanned aerial vehicle takes off to carry out remote sensing image acquisition on a region to be applied with the smoke, remote sensing information of the region to be applied with the smoke is obtained, and the remote sensing information is transmitted back to the numerical control module;
b. the environment monitoring module transmits the acquired environmental meteorological information of the pesticide application area back to the numerical control module;
c. the numerical control module analyzes and processes the remote sensing information transmitted back by the remote sensing module and the environmental meteorological information transmitted back by the environmental monitoring module to generate a smoke application operation prescription chart, and plans a flight operation path and the spraying amount of the smoke agent pesticide at each pesticide application area point;
d. the remote sensing module is taken down from the unmanned aerial vehicle, the spraying module is installed on the unmanned aerial vehicle, and the spraying module is debugged to ensure that the spraying module can work normally;
e. the unmanned aerial vehicle takes off, and the spraying module starts to carry out the spraying operation of the smoke agent and the pesticide according to a path planned in advance by the numerical control module;
f. in the operation process, the environment monitoring module monitors the disturbance condition of the airflow around the unmanned aerial vehicle in real time and transmits the disturbance condition back to the numerical control module;
g. the numerical control module receives data information returned in the flying operation process in real time, compares the flying position and the flying posture of the unmanned aerial vehicle in the orchard in real time, combines a smoke application operation prescription diagram and airflow disturbance data information around the unmanned aerial vehicle, carries out comprehensive processing analysis on the data information again, and further sends an accurate control instruction to the spraying module so as to carry out accurate smoke agent pesticide spraying operation;
h. spraying work is finished, and the unmanned aerial vehicle returns to descend and starts to prepare for the next flight operation.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the unmanned aerial vehicle smoke agent spraying system suitable for mountains and hills, disclosed by the invention, adopts the unmanned aerial vehicle to operate, is high in operation efficiency, does not need personnel to enter the ground, greatly lightens the labor intensity of workers, and simultaneously reduces the damage to the health of the workers.
The unmanned aerial vehicle smoke agent spraying system suitable for mountains and hills can increase the penetration effect of the agent and effectively improve the attachment rate of the agent on the front and back surfaces of the leaves of fruit trees in mountains and hills.
The unmanned aerial vehicle smoke agent spraying system suitable for mountainous and hilly areas can apply smoke accurately, the pesticide utilization rate is improved, and smoke harm caused by drift is greatly reduced.
The unmanned aerial vehicle smoke agent spraying system applicable to mountains and hills does not need water, solves the problems that liquid pesticide is lack of water when being sprayed to mountains and water sources are difficult to supply and transport, and is applicable to various mountains and hills operating environments and various unmanned aerial vehicle models.
The spraying module carried by the unmanned aerial vehicle in the unmanned aerial vehicle smoke agent spraying system suitable for mountainous and hilly areas is simple in overall structure, convenient and flexible to use, convenient to install, transfer, transport and disassemble, small in occupied space after being folded, low in cost and easy to popularize.
Drawings
Fig. 1 is an overall framework flow diagram of the unmanned aerial vehicle smoke spray system of the present invention suitable for use in mountainous and hilly terrain.
FIG. 2 is a schematic diagram of a telemetry module.
Fig. 3 is a framework flow diagram of the spray module.
Fig. 4 is a partial structure schematic diagram of a smoke variable atomizing nozzle.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1-4, the unmanned aerial vehicle smoke spraying system suitable for mountainous and hilly areas of the invention comprises a remote sensing module 1, an environment monitoring module 2, a spraying module 3 and a numerical control module 4, wherein,
remote sensing module 1 installs on unmanned aerial vehicle through quick installing support 5, and this remote sensing module 1 includes image acquisition device 11 and image transmission system 12, wherein, image acquisition device 11 is used for carrying out remote sensing information acquisition to the region of administering medicine, image transmission system 12 is used for passing back remote sensing information to numerical control module 4 through wireless communication's mode.
The environment monitoring module 2 comprises an area monitoring meteorological station 21 arranged on the ground and an unmanned aerial vehicle airflow disturbance monitoring device 22 arranged on an unmanned aerial vehicle, wherein the area monitoring meteorological station 21 is used for monitoring the whole meteorological conditions of a pesticide application area in real time, and the unmanned aerial vehicle airflow disturbance monitoring device 22 is used for detecting the airflow disturbance conditions around the unmanned aerial vehicle in the operation process; the whole meteorological condition information of the pesticide application area monitored by the area monitoring meteorological station 21 and the peripheral airflow disturbance condition information of the unmanned aerial vehicle monitored by the unmanned aerial vehicle airflow disturbance monitoring device 22 are transmitted back to the numerical control module 4 in a wireless communication mode.
The spraying module 3 is installed on the unmanned aerial vehicle through a quick installation support 5, the spraying module 3 comprises a chemical box 31 for containing smoke pesticide, a smoke generator 33, a smoke variable atomizing nozzle 35 and a conveying mechanism for conveying the smoke pesticide in the chemical box 31 to the smoke generator 33 and the smoke variable atomizing nozzle 35 in sequence, wherein the conveying mechanism comprises a micro booster pump arranged in the chemical box 31, and the chemical box 31, the smoke generator 33 and the smoke variable atomizing nozzle 35 are connected through a pesticide spraying pipe 32; the smoke generator 33 is an electronic igniter; the variable atomizer 35 of cigarette agent is a plurality of and installs around unmanned aerial vehicle's fuselage through quick installing support 5, and this variable atomizer 35 of cigarette agent department is provided with flow controller 34 for the quantity of control spraying cigarette agent pesticide.
The numerical control module 4 is arranged on the ground and used for receiving remote sensing information, the whole meteorological condition information of a pesticide application area and the airflow disturbance condition information around the unmanned aerial vehicle, generating a smoke application operation prescription according to the information, planning a pesticide application flight operation path, determining the accurate spraying amount of the fruit tree smoke pesticide in each pesticide application area and performing simulation evaluation on the smoke drift condition; and remotely controls the operation of the smoke generator 33 and the flow controller 34 in the spraying module 3.
Referring to fig. 1 to 4, the remote sensing information acquired by the image acquisition device 11 includes image information of terrain, growth of fruit trees, tree height, planting distance, and row spacing; and the numerical control module 4 generates a 3D accurate three-dimensional image for the pesticide application area and each pesticide application object according to the remote sensing information. By generating 3D accurate three-dimensional images of the pesticide application area and each pesticide application object, a more accurate smoke application operation prescription can be made, and accurate spraying of crops is realized.
Referring to fig. 1-4, the image capture device 11 is mounted on the drone by a quick mount bracket 5, the image capture device 11 having independent wavelengths characterized by green and near infrared channels, the independent wavelengths including three independent active beams of 532 nm, 1064 nm and 1550 nm, each active beam having an effective sampling rate of 300 kHz, the independent wavelengths totaling a combined sampling rate of 900 kHz. According to the real-time relative position of each point in the area and the image acquisition device 11, the distance and the relative angle between the measured crop and the image acquisition device 11 are returned in a polar coordinate mode, the three-dimensional scene of the fruit tree is reconstructed, and the spectral information of the measured crop is acquired in real time, so that the image acquisition device 11 has high-density mapping capacity and can be used for topographic and plant growth mapping and environment modeling application.
Referring to fig. 1 to 4, the numerical control module 4 is further configured to receive, in real time, position coordinate data information, flight parameter data information, and airflow disturbance data information around the unmanned aerial vehicle, which are returned by the unmanned aerial vehicle during actual flight operation. Through the flight position and the gesture of real-time comparison unmanned aerial vehicle in the orchard, carry out comprehensive treatment to each data message, further send accurate control command to the flow controller 34 of spraying module 3 to control spraying module 3 is accurate to smoke.
Referring to fig. 1-4, a variable swing smoke stop door 36 is arranged inside the smoke variable atomizing nozzle 35, and the variable swing smoke stop door 36 is connected with the flow controller 34. This allows the variable swing smoke stop gate 36 to be precisely swung to a specific angle to control the amount of smoke applied by the flow controller 34 in real time.
Referring to fig. 1-4, the system and method for spraying the smoke agent of the unmanned aerial vehicle, provided by the invention, comprise the following steps:
a. before the smoke agent is sprayed, the remote sensing image acquisition device 11 is installed on an unmanned aerial vehicle, the unmanned aerial vehicle takes off to acquire remote sensing images of an area to be applied with the smoke agent, so that information such as terrain and topography, growth vigor of fruit trees, tree height, plant spacing, row spacing and the like of the area to be applied with the smoke agent is acquired and is transmitted back to the numerical control module 4 through the image transmission system 12;
b. the regional monitoring weather station 21 transmits the acquired environmental weather data information of the pesticide application region back to the numerical control module 4;
c. the numerical control module 4 analyzes and processes data information transmitted back by the remote sensing module 1 and the environment monitoring module 2, generates a smoke application operation prescription chart, and plans a flight operation path and the spraying amount of the smoke agent pesticide at each pesticide application area point;
d. the remote sensing module 1 is taken down from the unmanned aerial vehicle, the spraying module 3 is installed on the unmanned aerial vehicle, and the spraying module 3 is debugged to ensure that the unmanned aerial vehicle can work normally;
e. the unmanned aerial vehicle takes off, and the spraying module 3 starts to spray the smoke agent and pesticide according to a path planned in advance by the numerical control module 4;
f. in the operation process, the unmanned aerial vehicle airflow disturbance monitoring device 22 monitors the airflow disturbance situation around the unmanned aerial vehicle in real time and transmits the airflow disturbance situation back to the numerical control module 4;
g. the unmanned aerial vehicle simultaneously transmits flight parameter information such as coordinate information, flight height, flight speed and the like back to the numerical control module 4 in real time;
h. the numerical control module 4 receives data information returned in the flying operation process in real time, compares the flying position and the flying posture of the unmanned aerial vehicle in the orchard in real time, combines a prescription chart and airflow disturbance information around the unmanned aerial vehicle, carries out comprehensive processing and analysis on the data information again, and further sends an accurate control instruction to the flow controller 34 of the spraying module 3 so as to carry out accurate smoke pesticide spraying operation;
i. spraying work is finished, and the unmanned aerial vehicle returns to descend and starts to prepare for the next flight operation.
In the invention, the numerical control module 4 processes the acquired image through a high-performance processor to realize the segmentation and identification of targets (plant diseases and insect pests) and crops, carries out smoke spraying decision operation by combining DGPS (differential global positioning system) and GIS (geographic information system) technologies on the basis of image processing results and plant disease and insect pest investigation of agricultural experts, and carries out simulation prediction on the drift diffusion condition of smoke pesticide by combining real-time meteorological conditions (such as wind direction, wind speed and the like) of a pesticide application area so as to generate a smoke spraying operation prescription chart, plans a theoretical flight operation path and theoretical smoke spraying amount of each operation area by using decision prescription data as a standard, so as to minimize the drift amount of operation of each area and realize variable accurate smoke spraying operation. When pests and diseases occur to an object, the change of the internal tissue structure and the function of leaves and the abnormal change of the morphological structure of trees (the change of the color of the leaves, the deformation of the leaves and plants, the change of the physical structure of the leaves, the change of the content of chlorophyll, residues generated on the leaves and the like) can cause the trees infected by the pests and diseases to have obvious changes on the spectral characteristics. For example, when a plant is attacked by a pest, chlorophyll is often reduced or even disappears, so that the intensity of a chlorophyll absorption band is reduced, the reflectivity of the whole visible light is increased and is much higher than that of a normal plant, the reflectivity of an infrared region is obviously reduced, the spectral values of the plant affected by the pest change in each band, especially the spectral value change in a near-infrared band is large, and information of the changes can be extracted from a remote sensing image to provide a basis for drawing a prescription chart.
In the invention, the actual operation process of the unmanned aerial vehicle is inevitable and theoretical planning goes in and out, the numerical control module 4 compares the geographical position information, flight attitude information and real-time airflow disturbance information of the unmanned aerial vehicle which are obtained in real time with the information of the prescription chart, brings the wing tip vortex, the rotor wing down-spinning airflow and the air disturbance around the body of the unmanned aerial vehicle into the influence factors on the smoke, takes the smoke particles of aviation smoke as discrete objects for analysis, the average diameter and the volume fraction are used as measurement parameters, the interaction between the unmanned module rotor airflow and the atmospheric turbulence is analyzed by using a static Gaussian model method, a Gaussian cloud cluster model and a physical angle, the motion trail of the smoke agent is obtained by combining methods such as N-S equation solution and the like, therefore, the motion and ground deposition modes of the smoke agent pesticide can be predicted, and objective reference is made for issuing instructions of the numerical control module 4. The actual smoke spraying amount is calculated by combining the flying height and the flying speed, a variable smoke applying control signal is generated, the flow controller 34 is controlled by the output voltage signal to control the opening degree of the variable swing smoke-blocking partition door 36, and the smoke spraying amount of the smoke agent variable atomizing nozzle 35 is further accurately adjusted.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle smoke agent spraying system suitable for mountains and hills is characterized by comprising a remote sensing module, an environment monitoring module, a spraying module and a numerical control module, wherein,
the remote sensing module is arranged on the unmanned aerial vehicle and comprises an image acquisition device and an image transmission system, wherein the image acquisition device is used for acquiring remote sensing information of a pesticide application area, the image acquisition device is installed on the unmanned aerial vehicle through a quick installation support, the image acquisition device is provided with independent wavelengths which take green and near infrared channels as characteristics, the independent wavelengths comprise three active light beams with independent wavelengths of 532 nm, 1064 nm and 1550 nm, each active light beam has an effective sampling rate of 300 kHz, and the independent wavelengths total a combined sampling rate of 900 kHz; the image transmission system is used for transmitting the remote sensing information back to the numerical control module in a wireless communication mode, and the remote sensing information acquired by the image acquisition device comprises the image information of terrain, growth of fruit trees, tree height, planting distance and row spacing; the numerical control module generates a 3D accurate three-dimensional image for the pesticide application area and each pesticide application object according to the remote sensing information;
the environment monitoring module comprises an area monitoring meteorological station arranged on the ground and an unmanned aerial vehicle airflow disturbance monitoring device arranged on an unmanned aerial vehicle, wherein the area monitoring meteorological station is used for monitoring the whole meteorological conditions of a pesticide application area in real time, and the unmanned aerial vehicle airflow disturbance monitoring device is used for detecting the disturbance condition of the peripheral airflow of the unmanned aerial vehicle in the operation process and bringing the wing tip vortex, the rotor wing down-spin airflow and the disturbance of the peripheral air of the unmanned aerial vehicle body into the influence factors on smoke; the whole meteorological condition information of the pesticide application area monitored by the area monitoring meteorological station and the airflow disturbance condition information around the unmanned aerial vehicle monitored by the unmanned aerial vehicle airflow disturbance monitoring device are transmitted back to the numerical control module in a wireless communication mode;
the spraying module is arranged on the unmanned aerial vehicle and comprises a chemical box for containing the smoke pesticide, a smoke generator, a smoke variable atomizing nozzle and a conveying mechanism for conveying the smoke pesticide in the chemical box to the smoke generator and the smoke variable atomizing nozzle in sequence;
the numerical control module is arranged on the ground and used for receiving remote sensing information, the whole meteorological condition information of a pesticide application area and the airflow disturbance condition information around the unmanned aerial vehicle, generating a smoke application operation prescription according to the received information, planning a pesticide application flight operation path, and determining the accurate spraying amount of the smoke pesticide of the fruit trees in each pesticide application area and performing simulation evaluation on the smoke drift condition; the spraying module is remotely controlled to work; the numerical control module is also used for receiving position coordinate data information, flight parameter data information and airflow disturbance data information around the unmanned aerial vehicle returned by the unmanned aerial vehicle in real time in actual flight operation.
2. The unmanned aerial vehicle aerosol delivery system for mountain hills of claim 1, wherein the delivery mechanism comprises a micro booster pump disposed in a chemical tank, and the chemical tank, the aerosol generator and the aerosol variable atomizing nozzle are connected by an aerosol spray pipe.
3. The unmanned aerial vehicle aerosol delivery system for use on mountainous and hilly terrain as claimed in claim 2, wherein a flow controller is provided at the aerosol variable atomizing nozzle.
4. The unmanned aerial vehicle aerosol delivery system for use on mountainous and hilly terrain as claimed in claim 3, wherein the number of aerosol variable nozzles is plural and is mounted around the body of the unmanned aerial vehicle by quick-mount brackets.
5. The unmanned aerial vehicle aerosol delivery system for mountain and hilly areas of claim 4, wherein the variable volume spray nozzle is internally provided with a variable volume swing smoke damper, and the variable volume swing smoke damper is connected to the flow controller.
6. A spraying method using the unmanned aerial vehicle smoke spray system of any one of claims 1-5, comprising the steps of:
a. before the smoke application operation, the remote sensing module is installed on an unmanned aerial vehicle, the unmanned aerial vehicle takes off to carry out remote sensing image acquisition on a region to be applied with the smoke, remote sensing information of the region to be applied with the smoke is obtained, and the remote sensing information is transmitted back to the numerical control module;
b. the environment monitoring module transmits the acquired environmental meteorological information of the pesticide application area back to the numerical control module;
c. the numerical control module analyzes and processes the remote sensing information transmitted back by the remote sensing module and the environmental meteorological information transmitted back by the environmental monitoring module to generate a smoke application operation prescription chart, and plans a flight operation path and the spraying amount of the smoke agent and the pesticide at each pesticide application area point;
d. the remote sensing module is taken down from the unmanned aerial vehicle, the spraying module is installed on the unmanned aerial vehicle, and the spraying module is debugged to ensure that the spraying module can work normally;
e. the unmanned aerial vehicle takes off, and the spraying module starts to carry out the spraying operation of the smoke agent and the pesticide according to a path planned in advance by the numerical control module;
f. in the operation process, the environment monitoring module monitors the disturbance condition of the airflow around the unmanned aerial vehicle in real time and transmits the disturbance condition back to the numerical control module;
g. the numerical control module receives data information returned in the flying operation process in real time, compares the flying position and the flying posture of the unmanned aerial vehicle in the orchard in real time, combines a smoke application operation prescription diagram and airflow disturbance data information around the unmanned aerial vehicle, carries out comprehensive processing analysis on the data information again, and further sends an accurate control instruction to the spraying module so as to carry out accurate smoke agent pesticide spraying operation;
h. spraying work is finished, and the unmanned aerial vehicle returns to descend and starts to prepare for the next flight operation.
7. The spraying method of claim 6, wherein in step f, the unmanned aerial vehicle simultaneously transmits the coordinate information, the flying height and the flying speed back to the numerical control module in real time.
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